EP0364907A2 - Procédé et dispositif pour déterminer la geométrie d'un objet - Google Patents

Procédé et dispositif pour déterminer la geométrie d'un objet Download PDF

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Publication number
EP0364907A2
EP0364907A2 EP89119108A EP89119108A EP0364907A2 EP 0364907 A2 EP0364907 A2 EP 0364907A2 EP 89119108 A EP89119108 A EP 89119108A EP 89119108 A EP89119108 A EP 89119108A EP 0364907 A2 EP0364907 A2 EP 0364907A2
Authority
EP
European Patent Office
Prior art keywords
workpiece
geometry
ring
carrier
computer
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP89119108A
Other languages
German (de)
English (en)
Other versions
EP0364907B1 (fr
EP0364907A3 (en
Inventor
Amit Kumar Dr. Biswas
Paul-Josef Dr. Nieschwitz
Hans-Albert Schubert
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SMS Hasenclever GmbH
SMS Hasenclever Maschinenfabrik GmbH
Original Assignee
SMS Hasenclever GmbH
SMS Hasenclever Maschinenfabrik GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by SMS Hasenclever GmbH, SMS Hasenclever Maschinenfabrik GmbH filed Critical SMS Hasenclever GmbH
Priority to AT89119108T priority Critical patent/ATE76502T1/de
Publication of EP0364907A2 publication Critical patent/EP0364907A2/fr
Publication of EP0364907A3 publication Critical patent/EP0364907A3/de
Application granted granted Critical
Publication of EP0364907B1 publication Critical patent/EP0364907B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
    • B21J1/00—Preparing metal stock or similar ancillary operations prior, during or post forging, e.g. heating or cooling
    • B21J1/04—Shaping in the rough solely by forging or pressing
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
    • B21J9/00—Forging presses
    • B21J9/10—Drives for forging presses
    • B21J9/20—Control devices specially adapted to forging presses not restricted to one of the preceding subgroups
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
    • G01B11/245—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures using a plurality of fixed, simultaneously operating transducers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B2210/00—Aspects not specifically covered by any group under G01B, e.g. of wheel alignment, caliper-like sensors
    • G01B2210/54—Revolving an optical measuring instrument around a body

Definitions

  • the invention relates to a method and a device for determining the geometry of a metallic workpiece in a forging press for a machining pass, the workpiece being displaced in the forging press for machining and being rotated in a predetermined manner about the longitudinal axis.
  • a method for stretching a metallic workpiece in a forging press is known, the workpiece being stretched or bite between the upper saddle and the lower saddle of the forging press in the direction of the workpiece stretching, including those during the deformation measured elongation of the workpiece is only offset to such an extent that the bite edge of the previous bite on the workpiece comes to lie within the saddle edges.
  • a stretching degree meter is used as the device, which is connected to the workpiece via a measuring cable which is detachably arranged at the free end of the workpiece.
  • the known method with the associated device has the disadvantage that only the elongation of a workpiece during the machining process can be taken into account via a process control with a process computer, while the important cross-sectional change of a machined workpiece is not included in the process control.
  • DE 34-14-500 A1 discloses a method and a device for measuring the profiles of uneven objects, the profile of the material being determined by an optical one Is passed through the measuring section, which rotates around the material at least partially interrupting the light beam of the measuring section.
  • the profile shape is determined by means of suitable means by determining the interrupted light beam. This enables the profile shape to be checked and the required specifications to be observed, but an automatic processing sequence cannot be controlled.
  • an optical-electrical measuring method for the detection of non-circular cross sections of strand-like objects and a device for carrying out the method are known, wherein a light beam, which experiences a parallel displacement movement within a measuring field, from one in the measuring field located object is shadowed for a certain measurable time, depending on the size of the cross section in the scanning direction. If the cross-section of the object to be examined is unchanged in relation to the surroundings, the scanning takes place in several different directions either by pivoting the entire measuring system about an axis parallel to the longitudinal axis of the object or by collecting measured values by means of several differently oriented measuring systems, which are then designed to be stationary .
  • the known measuring method detects non-circular cross sections, but it is not suitable for taking into account when controlling a machining process.
  • the object of the invention is to provide a method and a device for determining the geometry of a workpiece in a forging press, whereby the cross section of the workpiece can be detected in a simple manner and can be taken into account in the fully automatic process control of a machining process.
  • the object is achieved in that the surface is scanned continuously in planes perpendicular to the direction of displacement of the body over the circumference is that the scanned data are transmitted to a prepared programmed computer, that the transmitted data are implemented in the computer with the aid of a program based on the volume constancy condition so that the current geometry of the workpiece is detected.
  • the current geometry of the workpiece that is detected in each case is processed in the computer in such a way that a subsequent forming step is initiated with predetermined programmed forging parameters. It is particularly advantageous in this method that the current geometry of the workpiece is continuously detected, so that this manipulated variable can be continuously included in the automatic process control of a machining process. As a result, the fully automatic machining process of a workpiece can be optimally controlled so that the machined workpieces at the end of the machining process meet the highest quality requirements with regard to machining and dimensional accuracy.
  • the object is achieved in that a carrier is arranged in the vicinity of the machining region of the workpiece, that the carrier is mounted rotating around the workpiece at a defined speed, and that in each case distributed on the inner surface of the carrier at two or more locations adjacent beam transmitters and beam receivers are installed.
  • the continuous measurement is carried out in a particularly reliable and trouble-free manner by means of beam transmitters and beam receivers designed as laser devices, which are attached to the inner surface of the carrier, which is advantageously designed as a ring and is arranged on a transducer so that it can be moved or pivoted.
  • the ring is equipped with a cooling device for beam transmitters and beam receivers.
  • the contactless measuring system ensures that work can be carried out in a particularly reliable and completely wear-free manner, with the highest measuring accuracy being achieved with extremely short measuring times.
  • a carrier designed as a ring 13 is arranged around a workpiece 10. It is not necessary for the workpiece 10 to be arranged in the center, but rather it can also assume an eccentric position.
  • a plurality of evenly distributed locations on the inner surface 14 of the ring 13 adjacent beam transmitters 11 and beam receivers 12 are installed.
  • the beam transmitter 11 and beam receiver 12 are advantageously designed as laser devices.
  • the laser devices essentially consist of a laser cannon which emits the laser beam which is refracted at the point of impact of the surface of the body 10 and thrown back onto the laser receiver.
  • the ring 13 is mounted to rotate around the workpiece 10 at a defined speed in the direction of the arrow.
  • the ring 13 is arranged on a transducer 15, which is movably or pivotably attached to a support beam 16 of an otherwise not shown device.
  • the measuring device works in an environment with high temperatures and high heat radiation from the glowing forging, it is advantageous to equip the ring 13 with a cooling device through which the ring 13 itself and the beam transmitter 11 and the beam receiver 12 are cooled.
  • the cooling device can be acted upon by a cooling medium, which preferably consists of compressed air or water.
  • a pickup 25 is provided, which consists of a base part 25B fastened to a support beam 26 and a cover part 25D pivotally fastened to this.
  • the base part 25B and the cover part 25D are connected via a bolt 27, around which the cover part 25D can be pivoted by means of a piston-cylinder unit 28.
  • Carriages 23 are arranged in the pickup 25 as carriers of beam transmitters 21 and beam receivers 22, which are movable back and forth in guides 29 in a translatory manner to the four frame parts. With the cover part 25D open, the entire measuring device can be removed from the area of exposing heat radiation, although the workpiece 20 is still in the forging position.
  • FIGS. 3 and 4 Another exemplary embodiment of a measuring device which can be brought out from the area of heat radiation which is harmful to the environment is shown in FIGS. 3 and 4, which at the same time show the assignment of the measuring device to a forging press.
  • a ring sector 33 is provided here as the carrier of two beam transmitters 31 and two beam receivers 32, which does not fully enclose the workpiece 30 but only about 240 ° to 270 °.
  • This ring sector 33 is rotatably supported in a sensor 35, which does not completely enclose the workpiece 30 as well as the ring sector 33.
  • the ring sector 33 is provided with a ring 33K protruding from its mounting in the sensor 35, which has an external toothing into which a gear wheel 37 engages.
  • the sensor 35 is carried by a linkage 36 which is connected to the sensor 35 via a head plate 38. Attached to the head plate 38 is a geared motor 39, the output shaft of which supports the gearwheel 37, so that the ring sector 33 in the sensor 35 can be rotated via the geared motor 39, the gearwheel 37 and the ring gear 33K.
  • the rotation required for a measuring process takes place in particular from that shown in FIG. 3 Starting position out by 90 ° in each of the two opposite directions, so that the workpiece 30 is scanned over its entire circumference during a measuring process.
  • the linkage 36 carrying the pickup 35 with the ring sector 33, the beam transmitters 31 and the beam receivers 32 is guided in guide pieces 40 in a rotationally fixed but longitudinally displaceable manner.
  • the guide pieces 40 are part of a support plate 41 which also carries a piston-cylinder unit 42, the piston rod 43 of which is connected to the linkage 36. With the support plate 41, the measuring device is attached to the upper fixed yoke 44 of a forging press.
  • the forging press in the exemplary embodiment is a barrel cylinder press, ie a press which guides a barrel cylinder 45 in its upper yoke 44, the piston 46 of which is supported on a bridge piece 47 and which carries an upper tool 48 which interacts with a lower tool 49.
  • the lower tool 49 is fastened on a lower yoke 50, which forms the press frame with columns 51 and the upper yoke 43.
  • a measuring device it is advisable to attach a measuring device to each side of the forging press so that the incoming cross-section A M and the outgoing cross-section A M + 1 can be measured.
  • the arrangement of two measuring devices on both sides of the press when it works with two manipulators and processes the workpiece in both directions, with the measuring devices then alternating between the incoming cross-section A M and the outgoing cross-section A M + 1 according to the direction of travel measure up.
  • the contour is determined from the temporal sequence of the transmission and reception of the laser beams in connection with the detection of the respective rotational or displacement position of the transmitter and receiver, and the size (area) of the measured cross-section is determined in a first calculation stage by means of planimetry.
  • the result of a measurement made behind the press on the workpiece which has just been deformed is related in a second calculation stage to a measurement which was carried out before the deformation step and is derived directly from a measurement result or is taken from a memory of previous measurement results.
  • the ratio of the cross sections becomes the new current length of the workpiece calculated in a program based on the constant volume condition.
  • their current results cross-sectional size, main dimensions, ie height, width or diameter
  • the documentation of the current geometry of the workpiece is suitable for providing basic values for subsequent forging processes, which can be entered into the computer for automatic process control.
  • the stitch plan is calculated in a computer programmed for stitch plan optimization.
  • the pass schedule optimization program specifies in particular the depth of penetration of the tool into the workpiece, the size of the manipulator step and the manipulator position so that the workpiece is forged as uniformly as possible within several successive forging passes, as is described in the aforementioned DE-37 23 825 A1 (Fig 6) is known.
  • the data specified in the pass schedule are transmitted to the press and manipulator control for execution.
  • the actual values of the manipulator steps S m1 to S mn together with the value l x determine the actual value of the deformed initial length L 1 and further from the cross-section acquisition the mean value of the cross sections A 2 after the deformation in the first pass. From the ratio of the cross-section A1 to the mean value of the cross-sections A2, the length L2 after the first pass is calculated on the volume constancy condition from the initial length L1.
  • the current geometry of the workpiece results after the first pass.
  • These data which characterize the geometry, are used as basic data for the next pass (stitch number (M + 1)) and can also be shown on the screen or documented on a printer, the cross sections A being given as individual values and / or as an average can. Since the current geometry is assumed for each pass, error accumulation from several passes is excluded, with the result of high quality and dimensional accuracy. It is also possible to use deviations of the actual values from the target values on which the pass schedule calculation is based for program correction.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Forging (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Medicines That Contain Protein Lipid Enzymes And Other Medicines (AREA)
  • Testing Of Coins (AREA)
EP89119108A 1988-10-18 1989-10-14 Procédé et dispositif pour déterminer la geométrie d'un objet Expired - Lifetime EP0364907B1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AT89119108T ATE76502T1 (de) 1988-10-18 1989-10-14 Verfahren und vorrichtung zum bestimmen der geometrie eines koerpers.

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE3835417 1988-10-18
DE3835417 1988-10-18

Publications (3)

Publication Number Publication Date
EP0364907A2 true EP0364907A2 (fr) 1990-04-25
EP0364907A3 EP0364907A3 (en) 1990-09-19
EP0364907B1 EP0364907B1 (fr) 1992-05-20

Family

ID=6365354

Family Applications (1)

Application Number Title Priority Date Filing Date
EP89119108A Expired - Lifetime EP0364907B1 (fr) 1988-10-18 1989-10-14 Procédé et dispositif pour déterminer la geométrie d'un objet

Country Status (7)

Country Link
US (1) US5028798A (fr)
EP (1) EP0364907B1 (fr)
JP (1) JPH07117382B2 (fr)
AT (1) ATE76502T1 (fr)
CA (1) CA2000847A1 (fr)
DE (1) DE58901492D1 (fr)
ES (1) ES2033065T3 (fr)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1991005520A1 (fr) * 1989-10-11 1991-05-02 Kaltenbach & Voigt Gmbh & Co. Procede et dispositif pour le mesurage optique tridimensionnel de corps, notamment de dents, dans la cavite buccale d'un patient
WO1992008948A1 (fr) * 1990-11-12 1992-05-29 Dipl.-Ing. Bruno Richter Gmbh & Co. Elektronische Betriebskontroll-Geräte Kg Procede et dispositif de mesure opto-electrique servant a determiner les dimensions de la section transversale d'objets notamment allonges par rapport a au moins une ligne droite tracee a la peripherie de la section transversale, touchant celle-ci en au moins deux points
WO2016149724A1 (fr) * 2015-03-24 2016-09-29 Nextsense Gmbh Procédé et dispositif pour mesurer un profilé longitudinal
WO2017167814A1 (fr) 2016-04-01 2017-10-05 Wobben Properties Gmbh Système de mesure pour mesurer une surface d'une pale de rotor d'éolienne
EP3685983A1 (fr) * 2019-01-23 2020-07-29 Proton Products International Limited Dispositif pour mesures de contour d'objets en mouvement

Families Citing this family (22)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5774220A (en) * 1990-11-20 1998-06-30 Mesacon Gesellschaft Fur Messtechnik Mbh Continuous contactless measurement of profiles and apparatus for carrying out the measurement process
GB9805445D0 (en) * 1998-03-16 1998-05-13 Whitehouse John A Product scanner
DE10023172C5 (de) * 2000-05-11 2007-01-04 Lap Gmbh Laser Applikationen Verfahren und Vorrichtung zur Messung der Unrundheit von länglichen Werkstücken
US6862099B2 (en) * 2002-04-05 2005-03-01 Varco I/P Tubular ovality testing
US8035094B2 (en) * 2002-06-17 2011-10-11 Quest Metrology, LLC Methods for measuring at least one physical characteristic of a component
DE10304503A1 (de) * 2003-02-05 2004-08-19 Hauni Maschinenbau Ag Vorrichtung und Verfahren zum Messen des Durchmessers eines stabförmigen Gegenstandes insbesondere der tabakverarbeitenden Industrie
DE102004015785B4 (de) * 2004-03-25 2012-06-06 Sikora Ag Verfahren zur Bestimmung der Abmessung eines Querschnitts eines Flachkabels oder eines Sektorleiters
US7281402B2 (en) * 2004-05-10 2007-10-16 Speciality Minerals (Michigan) Inc. Method and apparatus for optimizing forging processes
US7684030B2 (en) * 2007-05-04 2010-03-23 Vab Solutions Inc. Enclosure for a linear inspection system
CA2597891A1 (fr) * 2007-08-20 2009-02-20 Marc Miousset Sonde et systeme optiques multifaisceau pour mesure dimensionnelle
CN100510614C (zh) * 2007-12-06 2009-07-08 上海交通大学 大型锻件的激光雷达在线三维测量装置与方法
CN101216294B (zh) * 2008-01-10 2010-10-13 上海交通大学 大型锻件三维外形尺寸和温度在线检测装置
DE102009009393A1 (de) * 2009-02-18 2010-08-19 Pixargus Gmbh Vorrichtung und Verfahren zum Vermessen eines Körpers
JP5604532B2 (ja) * 2010-02-25 2014-10-08 テサ・エスアー 光学測定システム
CN101806670B (zh) * 2010-04-06 2012-06-27 苏州大学 锻压机缺件检测方法和装置
US9053561B2 (en) * 2012-03-23 2015-06-09 Specialty Minerals (Michigan) Inc. System and method for workpiece measurement during forging by image processing
CN103673918A (zh) * 2013-07-17 2014-03-26 太仓市鸿欣工业产品设计有限公司 球式全方位激光扫描仪
RU2642980C9 (ru) * 2013-09-30 2018-04-11 Висока Школа Баньска - Техницка Универзита Острава Способ бесконтактного измерения наружных размеров поперечных сечений металлургического стержнеобразного изделия и модульная рама для его осуществления
ES2640093B2 (es) * 2017-03-17 2018-04-24 La Farga Tub, S.L. Aparato de verificación de posicionamiento para piezas tubulares metálicas, equipo de verificación y método de verificación de posicionamiento
RU2643689C1 (ru) * 2017-04-26 2018-02-05 Валерий Владимирович Бодров Установка бесконтактного измерения деформации
US10393510B1 (en) * 2018-11-28 2019-08-27 Innovatech, Llc Measuring apparatus and method for measuring flexible elongated parts
JP6984621B2 (ja) * 2019-01-30 2021-12-22 Ｊｆｅスチール株式会社 鍛造プレス装置、鍛造プレス方法及び金属材の製造方法

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US3749500A (en) * 1970-12-23 1973-07-31 Gen Electric Optical caliper and edge detector-follower for automatic gaging
DE2725756A1 (de) * 1976-07-12 1978-01-19 Homer L Eaton Verfahren und einrichtung zum erfassen des aeusseren profils eines gegenstands
DE2729576A1 (de) * 1977-06-28 1979-01-11 Siemens Ag Vorrichtung zur umfangsmessung strangfoermigen gutes
US4264208A (en) * 1978-10-25 1981-04-28 Semperit Aktiengesellschaft Method and apparatus for measuring the surface of an object
FR2588654A1 (fr) * 1985-10-10 1987-04-17 Dujardin Montbard Somenor Procede de controle dimensionnel au defile de barres et dispositif pour la mise en oeuvre de ce procede

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JPS5491264A (en) * 1977-12-28 1979-07-19 Agency Of Ind Science & Technol Method and apparatus for measuring dimensions of forging materials in forging process
JPS56138207A (en) * 1980-03-31 1981-10-28 Sumitomo Metal Ind Ltd Sectional dimension measuring equipment of bar material
US4425505A (en) * 1981-04-15 1984-01-10 Bethlehem Steel Corporation Dual head measuring techniques for radiation gaging of reinforcing bar
DE3219389A1 (de) * 1982-05-24 1983-11-24 Richter Bruno Gmbh Optisch-elektrisches messverfahren zur erfassung von unrunden querschnitten insbesondere strangartiger gegenstaende und einrichtung zur durchfuehrung des verfahrens
FI71013C (fi) * 1983-01-06 1986-10-27 Schauman Wilh Oy Foerfarande och anordning foer bestaemmande av en oenskad centrallinje foer cylinderlika kroppar saosom traestockar
JPS59183312A (ja) * 1983-04-04 1984-10-18 Fujikura Ltd 線条体の検査装置
GB2138562B (en) * 1983-04-19 1986-08-06 Beta Instr Co Measurement of profiles of irregular objects
JPS6055212A (ja) * 1983-09-06 1985-03-30 Nec Corp 非接触三次元測定装置
US4752964A (en) * 1984-04-17 1988-06-21 Kawasaki Jukogyo Kabushiki Kaisha Method and apparatus for producing three-dimensional shape
US4880991A (en) * 1987-11-09 1989-11-14 Industrial Technology Institute Non-contact dimensional gage for turned parts

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3749500A (en) * 1970-12-23 1973-07-31 Gen Electric Optical caliper and edge detector-follower for automatic gaging
DE2725756A1 (de) * 1976-07-12 1978-01-19 Homer L Eaton Verfahren und einrichtung zum erfassen des aeusseren profils eines gegenstands
DE2729576A1 (de) * 1977-06-28 1979-01-11 Siemens Ag Vorrichtung zur umfangsmessung strangfoermigen gutes
US4264208A (en) * 1978-10-25 1981-04-28 Semperit Aktiengesellschaft Method and apparatus for measuring the surface of an object
FR2588654A1 (fr) * 1985-10-10 1987-04-17 Dujardin Montbard Somenor Procede de controle dimensionnel au defile de barres et dispositif pour la mise en oeuvre de ce procede

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1991005520A1 (fr) * 1989-10-11 1991-05-02 Kaltenbach & Voigt Gmbh & Co. Procede et dispositif pour le mesurage optique tridimensionnel de corps, notamment de dents, dans la cavite buccale d'un patient
WO1992008948A1 (fr) * 1990-11-12 1992-05-29 Dipl.-Ing. Bruno Richter Gmbh & Co. Elektronische Betriebskontroll-Geräte Kg Procede et dispositif de mesure opto-electrique servant a determiner les dimensions de la section transversale d'objets notamment allonges par rapport a au moins une ligne droite tracee a la peripherie de la section transversale, touchant celle-ci en au moins deux points
WO2016149724A1 (fr) * 2015-03-24 2016-09-29 Nextsense Gmbh Procédé et dispositif pour mesurer un profilé longitudinal
WO2017167814A1 (fr) 2016-04-01 2017-10-05 Wobben Properties Gmbh Système de mesure pour mesurer une surface d'une pale de rotor d'éolienne
DE102016205469A1 (de) * 2016-04-01 2017-10-05 Wobben Properties Gmbh Messsystem zur Vermessung einer Oberfläche
EP3685983A1 (fr) * 2019-01-23 2020-07-29 Proton Products International Limited Dispositif pour mesures de contour d'objets en mouvement
US10816329B2 (en) 2019-01-23 2020-10-27 Proton Products International Limited Outline measurement of moving objects

Also Published As

Publication number Publication date
JPH02157606A (ja) 1990-06-18
JPH07117382B2 (ja) 1995-12-18
ATE76502T1 (de) 1992-06-15
ES2033065T3 (es) 1993-03-01
US5028798A (en) 1991-07-02
DE58901492D1 (de) 1992-06-25
EP0364907B1 (fr) 1992-05-20
EP0364907A3 (en) 1990-09-19
CA2000847A1 (fr) 1990-04-18

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